相关论文: Airflow-Inertial Odometry for Resilient State Esti…

Within wind farms, wake effects between turbines can significantly reduce overall energy production. Wind farm flow control encompasses methods designed to mitigate these effects through coordinated turbine control. Wake steering, for…

We present a direct visual-inertial odometry (VIO) method which estimates the motion of the sensor setup and sparse 3D geometry of the environment based on measurements from a rolling-shutter camera and an inertial measurement unit (IMU).…

Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal state estimation, the spatial-temporal displacements between…

The intrinsic high dimension of fluid dynamics is an inherent challenge to control of aerodynamic flows, and this is further complicated by a flow's nonlinear response to strong disturbances. Deep reinforcement learning, which takes…

LiDAR-inertial odometry (LIO), which fuses complementary information of a LiDAR and an Inertial Measurement Unit (IMU), is an attractive solution for state estimation. In LIO, both pose and velocity are regarded as state variables that need…

Combining cameras and inertial measurement units (IMUs) has been proven effective in motion tracking, as these two sensing modalities offer complementary characteristics that are suitable for fusion. While most works focus on global-shutter…

This paper describes recursive algorithms for state estimation of linear dynamical systems when measurements are noisy with unknown bias and/or outliers. For situations with noisy and biased measurements, algorithms are proposed that…

This paper demonstrates that continual relearning of control policies using incremental deep reinforcement learning (RL) can improve policy learning for non-stationary processes. We demonstrate this approach for a data-driven 'smart…

Camera-IMU (Inertial Measurement Unit) sensor fusion has been extensively studied in recent decades. Numerous observability analysis and fusion schemes for motion estimation with self-calibration have been presented. However, it has been…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

In this paper, we present INertial Lidar Localisation Autocalibration And MApping (IN2LAAMA): an offline probabilistic framework for localisation, mapping, and extrinsic calibration based on a 3D-lidar and a 6-DoF-IMU. Most of today's…

Motion sensing and tracking with IMU data is essential for spatial intelligence, which however is challenging due to the presence of time-varying stochastic bias. IMU bias is affected by various factors such as temperature and vibration,…

In recent years, multiple Light Detection and Ranging (LiDAR) systems have grown in popularity due to their enhanced accuracy and stability from the increased field of view (FOV). However, integrating multiple LiDARs can be challenging,…

Extensive research efforts have been dedicated to deep learning based odometry. Nonetheless, few efforts are made on the unsupervised deep lidar odometry. In this paper, we design a novel framework for unsupervised lidar odometry with the…

In this paper, we propose an interoceptive-only odometry system for ground robots with neural network processing and soft constraints based on the assumption of a globally continuous ground manifold. Exteroceptive sensors such as cameras,…

In order to make robots more useful in a variety of environments, they need to be highly portable so that they can be transported to wherever they are needed, and highly storable so that they can be stored when not in use. We propose…

Indoor tracking and pose estimation, i.e., determining the position and orientation of a moving target, are increasingly important due to their numerous applications. While Inertial Navigation Systems (INS) provide high update rates, their…

Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…

Airfoil aerodynamic optimization based on single-point design may lead to poor off-design behaviors. Multipoint optimization that considers the off-design flow conditions is usually applied to improve the robustness and expand the flight…

This paper presents a novel approach for predicting human poses using IMU data, diverging from previous studies such as DIP-IMU, IMUPoser, and TransPose, which use up to 6 IMUs in conjunction with bidirectional RNNs. We introduce two main…